version: 66.04
glider: 160
mission: 3
dive: 441
start: 6 8 109 8 14 42
data:
$ID,160
$MISSION,3
$DIVE,441
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51810
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16580.658
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2613
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3046
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,146
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.900637
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,080821,6500.343,-44.499,39,2.3,58,-5.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,3.89
$_SM_ANGLEo,-66.6
$GPS2,081420,6500.355,-44.436,14,1.7,14,-5.7
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,295.2,16019,-13.7,-6.875
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-6.88,0.000,2,0.000,0.000,135,2162,2016
$GC,28,-0.77,-116.7,3.8,-0.0,1,134,8.23,2.28,-90.03,0.000,4,0.197,0.058,2360,762,3522
$GC,195,-0.38,-116.7,8.3,-9.2,27,203,0.43,2.22,0.00,0.000,6,0.124,0.035,2484,2189,3523
$GC,543,-0.66,-116.7,27.3,-5.4,88,550,0.22,0.00,0.00,0.000,6,0.052,0.000,2384,2190,3525
$GC,889,-0.54,-116.7,58.7,-9.5,149,896,0.17,2.30,0.00,0.000,4,0.122,0.044,2438,777,3525
$GC,1028,-0.60,-116.7,69.3,-7.8,158,1031,0.00,2.17,0.00,0.000,6,0.000,0.037,2436,2174,3525
$GC,1361,-0.69,-116.7,91.8,-6.8,174,1366,0.15,2.25,0.00,0.000,4,0.064,0.043,2365,777,3526
$GC,1390,-0.50,-116.7,94.4,-9.6,175,1395,0.28,2.17,0.00,0.000,6,0.122,0.036,2450,2174,3526
$GC,1706,-0.68,-116.7,113.5,-5.6,190,1708,0.17,0.00,0.00,0.000,6,0.060,0.000,2375,2175,3526
$GC,2016,-0.52,-116.7,139.7,-8.4,205,2021,0.20,2.30,0.00,0.000,4,0.121,0.048,2436,3582,3526
$GC,2050,-0.65,-116.7,142.1,-6.0,206,2056,0.00,2.22,0.00,0.000,6,0.000,0.034,2436,2174,3526
$GC,2366,-0.76,-116.7,160.5,-6.1,222,2368,0.20,0.00,0.00,0.000,6,0.058,0.000,2350,2174,3527
$GC,2676,-0.51,-116.7,190.6,-10.1,237,2681,0.28,2.28,0.00,0.000,4,0.120,0.045,2442,765,3526
$GC,2716,-0.63,-116.7,193.7,-7.0,239,2720,0.00,2.20,0.00,0.000,6,0.000,0.037,2442,2174,3527
$GC,3050,-0.78,-116.7,214.0,-6.0,255,3055,0.22,2.35,0.00,0.000,4,0.053,0.048,2340,3595,3526
$GC,3084,-0.50,-116.7,217.1,-10.1,256,3091,0.35,2.28,0.00,0.000,6,0.121,0.034,2448,2168,3527
$GC,3401,-0.69,-116.7,236.7,-6.1,272,3403,0.17,0.00,0.00,0.000,6,0.061,0.000,2375,2168,3527
$GC,3710,-0.54,-116.7,264.5,-9.1,287,3712,0.20,0.00,0.00,0.000,6,0.120,0.000,2436,2166,3527
$GC,4019,-0.68,-116.7,284.2,-6.1,302,4021,0.12,0.00,0.00,0.000,6,0.074,0.000,2380,2167,3526
$GC,4348,-0.56,-116.7,310.8,-8.1,316,4350,0.17,0.00,0.00,0.000,6,0.122,0.000,2434,2166,3526
$GC,4655,-0.69,-116.7,328.8,-5.7,326,4659,0.15,2.38,0.00,0.000,4,0.064,0.050,2364,3592,3525
$GC,4693,-0.52,-116.7,332.0,-8.7,327,4699,0.28,2.30,0.00,0.000,6,0.122,0.036,2449,2172,3526
$GC,5020,-0.72,-116.7,349.4,-5.1,338,5022,0.20,0.00,0.00,0.000,6,0.061,0.000,2364,2172,3525
$GC,5325,-0.54,-116.7,374.7,-8.4,348,5329,0.20,2.30,0.00,0.000,4,0.122,0.048,2431,763,3524
$GC,5360,-0.61,-116.7,377.1,-6.8,349,5364,0.00,2.22,0.00,0.000,6,0.000,0.038,2431,2175,3524
$GC,5697,-0.75,-116.7,396.4,-5.8,360,5702,0.17,2.35,0.00,0.000,4,0.060,0.051,2353,3591,3523
$GC,5742,-0.54,-116.7,400.2,-8.9,361,5746,0.28,2.30,0.00,0.000,6,0.122,0.037,2437,2166,3523
$GC,6062,-0.70,-116.7,417.7,-5.4,372,6066,0.15,2.25,0.00,0.000,4,0.069,0.046,2374,772,3523
$GC,6106,-0.52,-116.7,421.3,-8.1,373,6111,0.22,2.22,0.00,0.000,6,0.127,0.039,2442,2179,3523
$GC,6425,-0.71,-116.7,436.9,-4.8,384,6430,0.17,2.35,0.00,0.000,4,0.061,0.053,2366,3597,3522
$GC,6455,-0.62,-116.7,438.8,-7.5,385,6460,0.17,2.30,0.00,0.000,6,0.127,0.036,2418,2169,3522
$GC,6792,-0.68,-116.7,459.0,-5.9,396,6796,0.00,2.28,0.00,0.000,4,0.000,0.048,2419,772,3521
$GC,6838,-0.68,-116.7,462.2,-6.5,397,6841,0.00,2.22,0.00,0.000,6,0.000,0.040,2419,2175,3521
$GC,7169,-0.76,-116.7,483.2,-6.5,408,7171,0.15,0.00,0.00,0.000,6,0.066,0.000,2350,2176,3520
$GC,7473,-0.53,-116.7,511.6,-9.4,416,7478,0.28,2.33,0.00,0.000,4,0.121,0.046,2442,768,3520
$GC,7536,-0.67,-116.7,516.0,-6.8,417,7541,0.15,2.22,0.00,0.000,6,0.066,0.041,2379,2173,3520
$GC,7902,-0.57,-116.7,545.9,-8.2,423,7904,0.15,0.00,0.00,0.000,6,0.122,0.000,2425,2173,3519
$GC,8207,-0.69,-116.7,565.1,-6.3,428,8212,0.12,2.38,0.00,0.000,4,0.074,0.054,2367,3583,3519
$GC,8247,-0.56,-116.7,568.5,-8.8,428,8252,0.22,2.30,0.00,0.000,6,0.123,0.039,2435,2167,3519
$GC,8568,-0.73,-116.7,587.2,-5.8,434,8570,0.17,0.00,0.00,0.000,6,0.067,0.000,2362,2167,3518
$GC,8871,-0.56,-116.7,613.4,-8.7,439,8875,0.20,2.28,0.00,0.000,4,0.124,0.048,2430,764,3518
$GC,8898,-0.56,-116.7,615.5,-7.6,439,8902,0.00,2.25,0.00,0.000,6,0.000,0.040,2429,2184,3518
$GC,9237,-0.71,-116.7,635.8,-6.0,445,9239,0.15,0.00,0.00,0.000,6,0.065,0.000,2363,2185,3517
$GC,9540,-0.55,-116.7,661.5,-8.6,450,9542,0.22,0.00,0.00,0.000,6,0.120,0.000,2433,2185,3517
$GC,9844,-0.72,-116.7,680.1,-6.0,455,9846,0.15,0.00,0.00,0.000,6,0.069,0.000,2367,2185,3517
$GC,10147,-0.59,-116.7,705.9,-8.7,460,10151,0.17,2.35,0.00,0.000,4,0.124,0.051,2421,764,3516
$GC,10180,-0.66,-116.7,708.5,-7.3,460,10184,0.00,2.25,0.00,0.000,6,0.000,0.042,2421,2174,3516
$GC,10513,-0.78,-116.7,729.9,-6.4,466,10518,0.17,2.38,0.00,0.000,4,0.064,0.054,2348,3595,3516
$GC,10541,-0.64,-116.7,732.4,-9.5,466,10546,0.20,2.30,0.00,0.000,6,0.128,0.038,2408,2167,3516
$GC,10874,-0.64,-116.7,755.9,-7.0,472,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2168,3516
$GC,11176,-0.64,-116.7,777.1,-7.0,477,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2168,3515
$GC,11480,-0.70,-116.7,798.1,-6.9,482,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2168,3515
$GC,11783,-0.77,-116.7,819.1,-6.9,487,11787,0.12,2.35,0.00,0.000,4,0.077,0.054,2352,3580,3515
$GC,11810,-0.63,-116.7,821.5,-8.6,487,11815,0.20,2.28,0.00,0.000,6,0.128,0.040,2412,2168,3514
$GC,12149,-0.71,-116.7,843.7,-6.5,493,12153,0.00,2.25,0.00,0.000,4,0.000,0.051,2412,773,3514
$GC,12182,-0.71,-116.7,846.1,-6.5,493,12186,0.00,2.25,0.00,0.000,6,0.000,0.042,2410,2189,3514
$GC,12520,-0.78,-116.7,868.5,-6.7,499,12522,0.15,0.00,0.00,0.000,6,0.069,0.000,2347,2189,3514
$GC,12825,-0.58,-116.7,895.2,-8.9,504,12827,0.25,0.00,0.00,0.000,6,0.126,0.000,2424,2190,3514
$GC,13127,-0.73,-116.7,913.4,-5.9,509,13131,0.15,2.35,0.00,0.000,4,0.072,0.053,2363,776,3513
$GC,13161,-0.56,-116.7,916.1,-8.4,509,13166,0.22,2.25,0.00,0.000,6,0.130,0.044,2429,2178,3513
$GC,13489,-0.73,-116.7,934.4,-5.5,515,13494,0.15,2.35,0.00,0.000,4,0.067,0.056,2365,3586,3513
$GC,13534,-0.63,-116.7,937.7,-7.2,515,13538,0.15,2.30,0.00,0.000,6,0.128,0.041,2409,2169,3513
$GC,13860,-0.72,-116.7,957.7,-6.0,521,13864,0.00,2.28,0.00,0.000,4,0.000,0.051,2409,766,3513
$GC,13894,-0.72,-116.7,959.9,-6.2,521,13898,0.00,2.28,0.00,0.000,6,0.000,0.043,2409,2190,3513
$GC,14226,-0.80,-116.7,978.8,-5.6,527,14228,0.17,0.00,0.00,0.000,6,0.064,0.000,2338,2191,3512
$STATE,14404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14404,begin apogee
$GC,14412,-0.23,0.0,993.6,7.6,530,14517,0.65,0.00,102.07,1.408,6,0.130,0.000,2539,2268,3046
$STATE,14517,end apogee,CONTROL_FINISHED_OK
$STATE,14518,begin climb
$GC,14521,0.77,116.7,995.5,0.0,531,14663,0.98,2.78,117.00,1.324,4,0.077,0.050,2858,3686,2570
$GC,14716,0.37,116.7,992.0,7.5,534,14723,0.47,2.47,0.00,0.000,6,0.138,0.033,2737,2262,2567
$GC,15027,0.69,182.0,978.2,4.3,540,15093,0.25,2.47,58.10,1.374,4,0.058,0.049,2840,864,2302
$GC,15169,0.61,182.0,967.4,9.0,542,15174,0.12,2.28,0.00,0.000,6,0.130,0.038,2805,2262,2298
$GC,15529,0.67,182.0,941.5,7.0,548,15533,0.00,2.33,0.00,0.000,4,0.000,0.051,2805,3681,2294
$GC,15557,0.67,182.0,939.3,7.4,548,15561,0.00,2.28,0.00,0.000,6,0.000,0.036,2809,2255,2294
$GC,15900,0.67,182.0,914.9,7.1,554,15904,0.00,2.25,0.00,0.000,4,0.000,0.047,2809,858,2293
$GC,15939,0.68,189.9,912.1,6.6,554,15952,0.00,2.20,6.93,1.131,6,0.000,0.036,2809,2262,2270
$GC,16270,0.68,189.9,888.9,7.1,560,16274,0.00,2.33,0.00,0.000,4,0.000,0.051,2809,3674,2269
$GC,16298,0.68,189.9,886.6,7.2,560,16302,0.00,2.28,0.00,0.000,6,0.000,0.035,2809,2252,2269
$GC,16635,0.68,189.9,862.6,7.2,566,16639,0.00,2.22,0.00,0.000,4,0.000,0.048,2809,853,2268
$GC,16681,0.75,189.9,859.4,8.2,566,16686,0.12,2.17,0.00,0.000,6,0.074,0.035,2865,2246,2268
$GC,17002,0.57,189.9,829.8,9.4,572,17007,0.20,2.35,0.00,0.000,4,0.125,0.050,2798,3681,2268
$GC,17059,0.57,189.9,825.3,7.9,572,17063,0.00,2.30,0.00,0.000,6,0.000,0.037,2799,2239,2268
$GC,17371,0.66,191.6,804.2,6.8,577,17374,0.00,2.22,0.00,0.000,4,0.000,0.049,2799,859,2268
$GC,17416,0.77,191.6,800.9,7.2,577,17420,0.17,2.20,0.00,0.000,6,0.061,0.037,2871,2263,2268
$GC,17736,0.57,191.6,770.5,9.7,583,17741,0.22,2.33,0.00,0.000,4,0.126,0.049,2797,3688,2267
$GC,17770,0.57,191.6,767.7,8.9,583,17774,0.00,2.28,0.00,0.000,6,0.000,0.035,2797,2253,2268
$GC,18103,0.69,197.1,745.6,6.7,589,18117,0.12,2.30,7.53,1.105,4,0.072,0.046,2855,856,2241
$GC,18163,0.59,197.1,740.4,9.3,589,18170,0.17,2.20,0.00,0.000,6,0.127,0.037,2802,2259,2240
$GC,18474,0.70,198.4,719.0,6.8,595,18479,0.12,2.33,0.00,0.000,4,0.071,0.052,2856,3673,2240
$GC,18524,0.48,198.4,714.2,9.4,595,18529,0.32,2.28,0.00,0.000,6,0.129,0.037,2762,2253,2241
$GC,18835,0.78,224.1,695.8,5.9,600,18866,0.28,2.30,25.00,1.201,4,0.055,0.048,2881,852,2130
$GC,18905,0.60,224.1,688.8,10.0,601,18910,0.25,2.20,0.00,0.000,6,0.121,0.035,2805,2244,2127
$GC,19260,0.72,224.1,662.1,7.4,607,19265,0.12,2.35,0.00,0.000,4,0.076,0.050,2856,3684,2126
$GC,19345,0.55,224.1,653.5,10.5,608,19350,0.22,2.30,0.00,0.000,6,0.127,0.035,2788,2235,2126
$GC,19694,0.77,233.4,630.2,6.5,614,19706,0.20,0.00,9.05,1.077,6,0.058,0.000,2873,2233,2094
$GC,19997,0.64,233.4,600.8,9.8,619,20002,0.17,2.38,0.00,0.000,4,0.124,0.049,2818,3681,2091
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$STATE,27233,end climb,SURFACE_DEPTH_REACHED
$STATE,27233,begin surface coast
$FINISH,3.1,1.014550
$STATE,27282,end surface coast,CONTROL_FINISHED_OK
$STATE,27282,begin surface
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$IRIDIUM_FIX,6436.42,-40.74,020998,000027
$TT8_MAMPS,0.026845
$HUMID,1799
$INTERNAL_PRESSURE,9.11555
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,20.9,69.586
$10V_AH,10.3,51.271
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$DEVICE_SECS,33.575,246.475,331.650,0.000,0.000,28.742,33.779,166.856,0.000,0.000,0.000,15.965,2217.223,21830.957,545.401,2417.506,700.478,0.000,1863.359,0.000,2368.950,0.000,0.531,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.617,692.753,394.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50597,987
$CAP_FILE_SIZE,210710,0
$CFSIZE,260165632,217276416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.076, 53.1,1
$GPS,080609,155201,6502.075,-49.321,38,1.3,38,-5.7